CN112238459B - Linkage wearable sixteen-freedom-degree driving end mechanical arm - Google Patents
Linkage wearable sixteen-freedom-degree driving end mechanical arm Download PDFInfo
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- CN112238459B CN112238459B CN202011088382.XA CN202011088382A CN112238459B CN 112238459 B CN112238459 B CN 112238459B CN 202011088382 A CN202011088382 A CN 202011088382A CN 112238459 B CN112238459 B CN 112238459B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention relates to the field of robots, in particular to a linkage wearable sixteen-degree-of-freedom active end mechanical arm which comprises a support, a waist component, a trunk seat, a shoulder component and an arm component, wherein the waist component can realize two degrees of freedom of rotation and pitching, the shoulder component can realize three degrees of freedom of abduction, adduction, external rotation, internal rotation and forward flexion and backward extension, the left shoulder component and the right shoulder component can realize six degrees of freedom in total, the arm component can realize forward flexion and backward extension of elbows, internal rotation and outward rotation of forearms and ulnar flexion of wrists, the palmar flexion and dorsiflexion of wrists, the left arm and the right arm have eight degrees of freedom in total, and motion information sensing components are arranged in each rotary joint. The invention greatly increases the degree of freedom of operation, can sense different positions of the waist, the shoulder, the wrist, the forearm and the wrist of an operator according to the rotating angle of each joint, and then sends the position information to the auxiliary arm of the bionic robot, so that the auxiliary arm of the bionic robot makes corresponding actions and the control is more accurate.
Description
Technical Field
The invention relates to the field of robots, in particular to a linkage wearable sixteen-degree-of-freedom active end mechanical arm.
Background
When people operate the tandem robot to perform a task, a controller is generally used to control the robot to complete a series of actions and tasks according to the sensing information of the robot. The controller for the bionic mechanical arm in the prior art is mostly controlled by a handle, can be suitable for single actions which are well edited in some settings, but cannot be controlled according to environmental requirements, so that the operation control is complex and needs to be improved. In addition, the existing human body auxiliary mechanical arm is designed aiming at the increment of the human body arm, and has the defects of low degree of freedom, limited working space of the mechanical arm, difficulty in finishing complex actions, large overall quality of equipment and the like.
Disclosure of Invention
The invention aims to provide a linkage wearable active end mechanical arm with sixteen degrees of freedom, which can detect the rotation angles of joints in real time, sense different positions of the waist, the shoulder, the wrist, the forearm and the wrist of an operator according to the rotation angle of each joint and send position information to a secondary arm of a bionic robot to enable the secondary arm of the bionic robot to perform corresponding actions while achieving the rotation with sixteen degrees of freedom.
The purpose of the invention is realized by the following technical scheme:
a linkage wearable sixteen-degree-of-freedom active end mechanical arm comprises a support, a waist component, a trunk seat, a shoulder component, an arm component and an operating rod joint, wherein the waist component comprises a first waist joint, a pitching connecting joint and a second waist joint, the lower end of the first waist joint is rotatably connected with the support around an X1 shaft, one side of the first waist joint is fixedly connected with the lower end of the pitching connecting joint, one end of the second waist joint is rotatably connected with the upper end of the pitching connecting joint around an X2 shaft, the upper side of the second waist joint is fixedly connected with the lower end of the trunk seat, the shoulder component and the arm component are arranged on two sides of the trunk seat respectively, the shoulder component comprises a first shoulder joint, a second shoulder joint, a shoulder external rotary connecting joint and a shoulder third joint, the lower side of the first shoulder joint is fixedly arranged on the trunk seat, one side of the second shoulder joint is rotatably connected with the first shoulder joint around an X3 shaft, the upper end of the shoulder external rotation connecting joint is rotationally connected with one end of the shoulder second joint around an X4 axis, one side of the shoulder third joint is fixedly connected with the lower end of the shoulder external rotation connecting joint, the arm component comprises an elbow joint, an elbow anteflexion connecting joint, a forearm joint, a first wrist joint, a wrist palmflexion connecting joint and a second wrist joint, the upper side of the elbow joint is rotationally connected with the lower end of the shoulder third joint in the corresponding side shoulder component around an X5 axis, the upper end of the elbow anteflexion connecting joint is rotationally connected with the outer end of the elbow joint around an X6 axis, the lower end of the elbow anteflexion connecting joint is fixedly connected with one side of the forearm joint, the upper side of the wrist first joint is rotationally connected with the lower end of the forearm joint around an X7 axis, the upper end of the wrist palmflexion connecting joint is rotationally connected with the outer end of the wrist first joint around an X8 axis, and the lower end of the palmflexion connecting joint is fixedly connected with one side of the second wrist joint, the operating rod joint is connected with the lower end of the second wrist joint in a rotating mode around an X9 shaft, and motion information sensing assemblies are arranged in the first waist joint, the second waist joint, the first shoulder joint, the second shoulder joint, the third shoulder joint, the elbow joint, the forearm joint, the first wrist joint and the second wrist joint.
The motion information sensing assembly comprises a foot rest, a magnetic ring, a bearing, a magnetic flux encoder, a receiver, a middle retainer and a nut, wherein a boss is arranged in the middle of the lower side of the foot rest, a connecting shaft is arranged on the lower side of the boss, the bearing is sleeved on the boss, the foot rest is supported and rotated through the bearing, the magnetic ring is fixedly connected with the lower surface of the boss of the foot rest, the magnetic flux encoder and the receiver are fixedly arranged in a joint shell, the magnetic ring is arranged on the upper side of the magnetic flux encoder, the middle retainer is arranged on the lower side of the receiver, the connecting shaft on the foot rest sequentially penetrates through the magnetic flux encoder, the receiver and the middle retainer and then is in threaded connection with the nut, and the outer surface of the foot rest is fixedly connected with an adjacent joint.
The magnetic flux encoder, the receiver and the intermediate retainer are integrally fixed by bolts.
The trunk seat comprises a waist connecting column and a shoulder connecting plate which are arranged in a T shape, the upper side of a second waist joint is fixedly connected with the lower end of the waist connecting column, and the lower side of a first shoulder joint is fixedly arranged at the corresponding side end part of the shoulder connecting plate.
The shoulder connecting plate of the trunk seat is provided with a waistband, and the forearm joint in the arm component is provided with a bayonet.
Every single move joint lower extreme be equipped with the waist connect the pad seat with the first joint in waist links firmly, every single move joint outside is equipped with the waist and connects the apron, the shoulder is connected the joint lower extreme outward soon and is equipped with the shoulder and connect the pad seat with the shoulder third joint links firmly, the shoulder is connected the joint outside outward soon and is equipped with the shoulder and connect the apron, bend in front of the elbow and connect the joint lower extreme be equipped with the elbow bend in front of the elbow pad seat with forearm joint links firmly, bend in front of the elbow and connect the joint outside and be equipped with the elbow and bend in front of the elbow and lap, the wrist is bent in front of the joint lower extreme and is equipped with the wrist and palm the pad seat with the wrist second joint links firmly, the wrist is bent in the palm and is connected the joint outside and is equipped with the wrist and palm the apron of bending.
The support comprises a base, a supporting seat and a plug, the supporting seat is installed at the upper end of the base, the lower end of the first waist joint is rotatably connected with the supporting seat, the lower end of the base is installed on a support, and the plug is arranged on one side of the base.
The invention has the advantages and positive effects that:
1. the invention can realize sixteen-freedom-degree rotation, including two degrees of freedom of waist component rotation and pitching, three degrees of freedom of shoulder component abduction-adduction, external rotation-inward rotation and forward flexion-backward extension, and six degrees of freedom of left and right shoulder structures, the arm component realizes the forward flexion-backward extension of elbow, internal rotation-outward rotation of forearm and ulnar flexion of wrist, the palmar flexion-dorsiflexion of wrist has four degrees of freedom, and the left and right arms have eight degrees of freedom in total, thereby greatly increasing the operational freedom, being more flexible in operation and being capable of finishing complex actions.
2. The invention can detect the rotation angles of the joints in real time, sense different positions of the waist, the shoulders, the wrists, the forearms and the wrists of an operator according to the rotation angle of each joint, and send the position information to the auxiliary arm of the bionic robot, so that the auxiliary arm of the bionic robot makes corresponding actions and the control is more accurate.
3. The waist and the arms of the invention can be well worn at the corresponding positions of the operator, thereby more truly simulating the specific actions and being easier to operate by hands.
Drawings
Figure 1 is a front view of the present invention,
figure 2 is a schematic view of the lumbar assembly of figure 1,
figure 3 is an exploded view of the lumbar assembly of figure 2,
figure 4 is a schematic view of the motion information sensing assembly in the first lumbar joint of figure 3,
figure 5 is a schematic view of the shoulder assembly of figure 1,
figure 6 is an exploded view of the shoulder assembly of figure 5,
figure 7 is a schematic view of the arm assembly of figure 1,
figure 8 is an exploded view of the arm assembly of figure 7,
figure 9 is a schematic view of the support of figure 1,
FIG. 10 is a schematic view of the present invention in use.
Wherein, 1 is a support, 101 is a base, 102 is a plug, 103 is a support base, 2 is a waist component, 201 is a first waist joint, 202 is a pitch joint, 2021 is a waist joint cover plate, 2022 is a waist joint pad base, 203 is a second waist joint, 3 is a shoulder component, 301 is a first shoulder joint, 302 is a second shoulder joint, 303 is a shoulder external rotation joint, 3031 is a shoulder joint cover plate, 3032 is a shoulder joint pad base, 304 is a third shoulder joint, 4 is an arm component, 401 is an elbow joint, 402 is an elbow anteflexion joint, 4021 is an elbow anteflexion cover plate, 4022 is an elbow anteflexion pad base, 403 is a forearm joint, 404 is a first wrist joint, 405 is a wrist palm flexion joint, 4051 is a wrist flexion cover plate, 4052 is a wrist flexion pad base, 406 is a second wrist flexion joint, 5 is an operating rod joint, 6 is a trunk base, 601 is a waist connecting column, 602 is a shoulder connecting plate, 6021 is a shoulder cushion, 7 is an action information sensing component, 701 is a nut, 702 is a middle holding frame, 703 is a receiver, 704 is a magnetic flux encoder, 705 is a magnetic ring, 706 is a bearing, 707 is a cover ring, 708 is a foot rest, and 7081 is a connecting shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 10, the present invention comprises a support 1, a lumbar component 2, a trunk seat 6, shoulder components 3, arm components 4 and a lever joint 5, wherein as shown in fig. 2 to 3, the lumbar component 2 comprises a first lumbar joint 201, a pitch joint 202 and a second lumbar joint 203, the first lumbar joint 201 is axially vertical, the lower end of the first lumbar joint 201 is rotatably connected with the support 1 around an axis X1, one side of the first lumbar joint 201 is fixedly connected with the lower end of the pitch joint 202, the second lumbar joint 203 is axially horizontal, one end of the second lumbar joint is rotatably connected with the upper end of the pitch joint 202 around an axis X2, the trunk seat 6 comprises a lumbar connecting column 601 and a shoulder connecting plate 602 which are arranged in a T shape, the upper side of the second lumbar joint 203 is fixedly connected with the lower end of the lumbar connecting column 601, two shoulder components 3 are respectively arranged at two ends of the shoulder connecting plate 602, as shown in fig. 5 to 6, the shoulder assembly 3 includes a first shoulder joint 301, a second shoulder joint 302 and a third shoulder joint 304, the lower side of the first shoulder joint 301 is fixedly connected to the corresponding side end of the shoulder connecting plate 602, one side of the second shoulder joint 302 is connected to the outer end of the first shoulder joint 301 in a manner of rotating around an axis X3, the upper end of the second shoulder joint 303 is connected to one end of the second shoulder joint 302 in a manner of rotating around an axis X4, one side of the third shoulder joint 304 is connected to the lower end of the first shoulder joint 303 in a manner of rotating around an axis X5, as shown in fig. 1 and fig. 7 to 8, the upper end of the arm assembly 4 includes an elbow joint 401, a pre-flexion joint 402, a forearm joint 403, a wrist, a first elbow joint 404, a palm-flexion joint 405 and a second elbow joint 406, wherein the upper side of the elbow joint 401 is rotationally connected with the lower end of a third shoulder joint 304 in the corresponding side shoulder assembly 3 around an X5 axis, the upper end of the elbow anteflexion joint 402 is rotationally connected with the outer end of the elbow joint 401 around an X6 axis, the lower end of the elbow anteflexion joint 402 is fixedly connected with one side of the forearm joint 403, the upper side of the first wrist joint 404 is rotationally connected with the lower end of the forearm joint 403 around an X7 axis, the upper end of the wrist palmflexion joint 405 is rotationally connected with the outer end of the first wrist joint 404 around an X8 axis, the lower end of the wrist palmflexion joint 405 is fixedly connected with one side of a second wrist joint 406, the operating rod joint 5 is rotationally connected with the lower end of the second wrist joint 406 around an X9 axis, and the first waist joint 201, the second waist joint 203, the first shoulder joint 301, the second shoulder joint 302, the third shoulder joint 304, the elbow joint 401, the lower end of the second wrist palmflexion joint 406, The forearm joint 403, the first wrist joint 404 and the second wrist joint 406 are provided with a motion information sensing unit 7.
As shown in fig. 4, the motion information sensing component 7 includes a foot rest 708, a magnetic ring 705, a bearing 706, a magnetic flux encoder 704, a receiver 703, a middle retainer 702 and a nut 701, a boss is disposed at the middle of the lower side of the foot rest 708, a connecting shaft 7081 is disposed at the lower side of the boss, the bearing 706 is sleeved on the boss, a cover ring 707 is fixedly disposed at the lower side of the foot rest 708 for limiting, a spigot is disposed in the joint housing to cooperate with the foot rest 708 to limit the axial displacement of the bearing 706, the foot rest 708 is supported by the bearing 706 for rotation, the magnetic ring 705 is fixedly connected with the lower surface of the boss of the foot rest 708 through a bolt, the magnetic flux encoder 704 and the receiver 703 are fixedly disposed in the joint housing, the magnetic ring 705 is disposed at the upper side of the magnetic flux encoder 704, the middle retainer 702 is disposed at the lower side of the receiver, and the magnetic flux encoder 704, the receiver 703 and the middle retainer 702 are integrally fixed through a bolt, the connecting shaft 7081 on the foot rest 708 passes through the magnetic flux encoder 704, the receiver 703 and the intermediate retainer 702 in sequence and then is in threaded connection with the nut 701, thereby realizing the axial locking connection of the foot rest 708, the magnetic ring 705, the bearing 706, the magnetic flux encoder 704, the receiver 703 and the middle retainer 702, the outer surface of the foot rest 708 is fixedly connected with the adjacent joint or the upper end of the support 1, when the joint where the motion information sensing component 7 is located rotates, the foot rest 708 and the magnetic ring 705 are stationary, at this time, the magnetic ring 705 is fixed on the foot rest 708 and mainly used for extracting the rotation angle of the joint, when the two joints rotate relatively, the magnetic flux encoder 704 rotates along with the rotating joint, and the connecting shaft 7081 at the lower side of the foot rest 708 keeps stationary, which is equivalent to rotating relative to the flux encoder 704 and generating corresponding rotational angle information that is transmitted to the device control system via the receiver 703. The magnetic flux encoder 704 and the receiver 703 are both commercially available products, and in this embodiment, the manufacturers of the magnetic flux encoder 704 and the receiver 703 are RLS. In addition, in this embodiment, the bearing 706 is a thrust roller bearing.
As shown in fig. 2 to 3, a waist connection pad 2022 is provided at the lower end of the pitch connection joint 202 to be fixedly connected with the first waist joint 201, a waist connection cover plate 2021 is provided at the outer side of the pitch connection joint 202, as shown in fig. 5 to 6, a shoulder connection pad 3032 is provided at the lower end of the shoulder external rotation connection joint 303 to be fixedly connected with the third shoulder joint 304, a shoulder connection cover plate 3031 is provided at the outer side of the shoulder external rotation connection joint 303, as shown in fig. 7 to 8, an elbow pre-flexion pad 4022 is provided at the lower end of the elbow pre-flexion connection joint 402 to be fixedly connected with the forearm joint 403, an elbow pre-flexion cover plate 4021 is provided at the outer side of the elbow pre-flexion connection joint 402, a wrist palm flexion pad 4052 is provided at the lower end of the wrist palm flexion connection joint 405 to be fixedly connected with the second wrist, and a wrist palm flexion cover plate 4051 is provided at the outer side of the wrist palm flexion connection joint 405.
As shown in fig. 6, shoulder pad seats 6021 are respectively disposed at two ends of the shoulder connecting plate 602 of the trunk seat 6 and are respectively fixedly connected with the first shoulder joints 301 of the corresponding side shoulder assemblies 3, and a connecting hole is disposed in the middle of the shoulder connecting plate 602 and is used for connecting with the upper end of the waist connecting column 601.
As shown in fig. 1 and fig. 9, the support 1 includes a base 101, a support seat 103 and a plug 102, the support seat 103 is mounted on the upper end of the base 101, the lower end of a first waist joint 201 in the waist component 2 is rotatably connected with the support seat 103, the lower end of the base 101 is mounted on a triangular bracket similar to a camera frame, the plug 102 is fixed in a circular hole of a groove on the cylindrical surface side of the base 101 by bayonet fastening, electrical components in the motion information sensing component 7 in each joint are respectively connected with the plug 102 by a line, and the plug 102 is connected with a power socket to realize power supply.
As shown in fig. 10, the shoulder connecting plate 602 of the trunk seat 6 is provided with a belt at both ends for integrally tying the present invention on the human body, and the forearm joint 403 of the arm component 4 is provided with a bayonet for being worn on the arm of the human body.
The working principle of the invention is as follows:
when the invention works, the lower end of the support 1 is arranged on a bracket, a human body ties the trunk seat 6 on the waist of the human body through a waistband, and clamps the bayonets on the forearm joints 403 on the arms of the human body to realize wearing, so that the human body can control the invention to act.
As shown in fig. 2 to 3, the first waist joint 201 in the waist assembly 2 is driven by a human body to rotate horizontally around an X1 axis, and when the first waist joint 201 rotates, a foot rest 708 at the lower end of the first waist joint 201 is fixedly connected with the upper end of the support 1 without rotating, so that a connecting shaft 7081 and a magnetic ring 705 on the foot rest 708 can rotate relative to a magnetic flux encoder 704 in the first waist joint 201, and corresponding rotation angle information is generated and transmitted to a device control system through a receiver 703, so that the real-time detection of the rotation angle of the first waist joint 201 through a motion information sensing assembly 7 in the first waist joint 201 is realized, the second waist joint 203 in the waist assembly 2 can realize pitching rotation around an X2 axis, as shown in fig. 5 to 6, the second shoulder joint 302 in the shoulder assembly 3 can swing back and forth around an X3 axis, the outward-turning connection joint 303 can realize outward-left and right outward-extending swinging around an X4 axis, the arm component 4 can rotate around an X5 axis, as shown in FIGS. 7 to 8, the elbow anteflexion connecting joint 402 can rotate around an X6 axis, the wrist first joint 404 can rotate around an X7 axis, the wrist palmar flexion connecting joint 405 can rotate around an X8 axis, the operating rod joint 5 can rotate around an X9 axis, the rotation principle of each joint is the same as that of the waist first joint 201, the invention realizes sixteen degrees of freedom (two degrees of freedom of rotation and pitching of the waist component 2, three degrees of freedom of abduction and adduction of external rotation and internal rotation and abduction and flexion and extension of the shoulder component 3, and six degrees of freedom of left and right shoulder structures in total, the arm component 4 realizes anteflexion and extension of the elbow, internal rotation and external rotation of the forearm, and flexion of the wrist, four degrees of dorsiflexion the palm and flexion of the wrist, and eight degrees of freedom of left and right arms in total), and can detect the joint rotation angle in real time through the motion information sensing component 7, when an operator operates, the system can sense different positions of the waist, the shoulders, the wrists, the forearms and the wrists of the operator according to the rotating angle of each joint, and then the different positions are sent to the auxiliary arm of the bionic robot through the receiver 703, and the auxiliary arm of the bionic robot immediately makes corresponding actions according to the received position information.
The waist and the arms of the invention can be well worn at the corresponding positions of the operator, thereby more truly simulating the specific actions and being easier to operate by hands. In addition, the structure of the bionic robot is combined with ergonomic design, the bionic robot can flexibly move, the magnetic flux encoders 704 arranged on all joints are mutually associated and mutually influenced, the system obtains relevant information through an algorithm and then controls the auxiliary arm of the bionic robot to complete the work requirement, and compared with other mechanical operation arms, the bionic robot has more accurate response.
Claims (3)
1. The utility model provides a wearable sixteen degree of freedom initiative end arm of linkage which characterized in that: the waist component (2) comprises a first waist joint (201), a pitching connecting joint (202) and a second waist joint (203), the lower end of the first waist joint (201) is rotatably connected with the support (1) around an X1 axis, one side of the first waist joint (201) is fixedly connected with the lower end of the pitching connecting joint (202), one end of the second waist joint (203) is rotatably connected with the upper end of the pitching connecting joint (202) around an X2 axis, the upper side of the second waist joint (203) is fixedly connected with the lower end of the trunk seat (6), shoulder components (3) and arm components (4) are arranged on two sides of the trunk seat (6), and each shoulder component (3) comprises a first shoulder joint (301), a second shoulder component (301), A second shoulder joint (302), a second shoulder external rotation joint (303) and a third shoulder joint (304), wherein the lower side of the first shoulder joint (301) is fixedly arranged on the trunk seat (6), one side of the second shoulder joint (302) is rotatably connected with the outer end of the first shoulder joint (301) around an X3 axis, the upper end of the external shoulder rotation joint (303) is rotatably connected with one end of the second shoulder joint (302) around an X4 axis, one side of the third shoulder joint (304) is fixedly connected with the lower end of the external shoulder rotation joint (303), the arm component (4) comprises an elbow joint (401), an elbow anteflexion joint (402), a forearm joint (402), a first joint (404), a wrist palmflexion joint (405) and a second wrist joint (406), the upper side of the elbow joint (401) is rotatably connected with the lower end of the third shoulder joint (304) in the corresponding side shoulder component (3) around an X5 axis, the upper end of the elbow anteflexion joint (402) is rotationally connected with the outer end of the elbow joint (401) around an X6 axis, the lower end of the elbow anteflexion joint (402) is fixedly connected with one side of the forearm joint (403), the upper side of the first wrist joint (404) is rotationally connected with the lower end of the forearm joint (403) around an X7 axis, the upper end of the wrist palmar flexion joint (405) is rotationally connected with the outer end of the first wrist joint (404) around an X8 axis, the lower end of the wrist palmar flexion joint (405) is fixedly connected with one side of the second wrist joint (406), the operating rod joint (5) is rotationally connected with the lower end of the second wrist joint (406) around an X9 axis, and the first waist joint (201), the second waist joint (203), the first shoulder joint (301), the second shoulder joint (302), the third shoulder joint (304), the elbow joint (401), The forearm joint (403), the first wrist joint (404) and the second wrist joint (406) are internally provided with motion information sensing components (7);
the trunk seat (6) comprises a waist connecting column (601) and a shoulder connecting plate (602) which are arranged in a T shape, the upper side of the waist second joint (203) is fixedly connected with the lower end of the waist connecting column (601), and the lower side of the shoulder first joint (301) is fixedly arranged at the corresponding side end part of the shoulder connecting plate (602); a waist belt is arranged on a shoulder connecting plate (602) of the trunk seat (6), and a bayonet is arranged on a forearm joint (403) in the arm component (4);
the support (1) comprises a base (101), a supporting seat (103) and a plug (102), the supporting seat (103) is installed at the upper end of the base (101), the lower end of the first waist joint (201) is rotatably connected with the supporting seat (103), the lower end of the base (101) is installed on a support, and the plug (102) is arranged on one side of the base (101);
the action information sensing component (7) comprises a foot rest (708), a magnetic ring (705), a bearing (706), a magnetic flux encoder (704), a receiver (703), a middle retainer (702) and a nut (701), wherein a boss is arranged in the middle of the lower side of the foot rest (708), a connecting shaft (7081) is arranged on the lower side of the boss, the bearing (706) is sleeved on the boss, the foot rest (708) is supported and rotated through the bearing (706), the magnetic ring (705) is fixedly connected with the lower surface of the boss of the foot rest (708), the magnetic flux encoder (704) and the receiver (703) are fixedly arranged in a joint shell, the magnetic ring (705) is arranged on the upper side of the magnetic flux encoder (704), the middle retainer (702) is arranged on the lower side of the receiver (703), and the connecting shaft (7081) on the foot rest (708) sequentially penetrates through the magnetic flux encoder (704), The receiver (703) and the middle retainer (702) are connected with the nut (701) by screw thread, and the outer surface of the foot rest (708) is fixedly connected with the adjacent joint.
2. The linkage wearable sixteen-degree-of-freedom active-end mechanical arm according to claim 1, characterized in that: the magnetic flux encoder (704), the receiver (703) and the intermediate holder (702) are integrally fixed by bolts.
3. The linkage wearable sixteen-degree-of-freedom active-end mechanical arm according to claim 1, characterized in that: the lower end of the pitching connecting joint (202) is provided with a waist connecting pad seat (2022) which is fixedly connected with the first waist joint (201), a waist connecting cover plate (2021) is arranged at the outer side of the pitching connecting joint (202), a shoulder connecting pad seat (3032) is arranged at the lower end of the shoulder external rotation connecting joint (303) and is fixedly connected with the shoulder third joint (304), a shoulder connecting cover plate (3031) is arranged on the outer side of the shoulder external rotation connecting joint (303), an elbow anterior flexion pad seat (4022) is arranged at the lower end of the elbow anterior flexion connecting joint (402) and is fixedly connected with the forearm joint (403), an elbow anterior flexion cover plate (4021) is arranged on the outer side of the elbow anterior flexion connecting joint (402), a wrist palm bending pad seat (4052) is arranged at the lower end of the wrist palm bending connection joint (405) and is fixedly connected with the wrist second joint (406), a wrist palm bending cover plate (4051) is arranged at the outer side of the wrist palm bending connecting joint (405).
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| CN112238459B true CN112238459B (en) | 2021-10-29 |
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| CN113084800B (en) * | 2021-03-29 | 2022-11-25 | 航天时代电子技术股份有限公司 | Wearable all-joint follow-up remote control device |
| CN115431251B (en) * | 2022-09-16 | 2023-03-21 | 哈尔滨工业大学 | Humanoid robot upper limb |
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| 基于可穿戴式传感器的人体动作捕获与识别研究;刘玉焘;《中国知网》;20200601;全文 * |
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